#ifndef METHOD_H
#define METHOD_H

namespace haptron {

/**
* @brief decouple fx fy by given lx ly lz mx my mz
* @param lx [in] Load center of mass along x axis (unit:m)
* @param ly [in] Load center of mass along y axis (unit:m)
* @param lz [in] Load center of mass along z axis (unit:m)
* @param fx [out] decoupled force x
* @param fy [out] decoupled force y
**/
void photon_finger_decouple(const float& lx, const float& ly, const float& lz, const float& fz, const float& mx, const float& my, 
                            float& fx, float& fy);

};

#endif